Coordination control of multi-axle distributed drive vehicle with dynamically-triggered DYC intervention and KKT-based torque optimization distribution

Multi-axle distributed drive vehicles, characterized by over-actuation, internal dynamics, and nonlinear external disturbances, frequently encounter coordination challenges in lateral path tracking, yaw stability intervention, and longitudinal speed control. These issues can significantly degrade overall control performance, particularly under complex driving conditions. To address them, this paper proposes a coordinated control framework integrating path tracking, yaw stability intervention, longitudinal drive control, and optimal torque distribution. First, a robust path tracking controller based on a linear parameter-varying (LPV) dynamic model is designed and a longitudinal speed controller using a linear sliding mode approach are designed. Subsequently, a direct yaw-moment control (DYC) strategy based on nonsingular terminal sliding mode control (NTSMC) with nonlinear dynamic triggering is introduced to mitigate performance degradation induced by excessive interventions. Finally, an optimal torque distribution method based on the Karush–Kuhn–Tucker (KKT) conditions is developed to ensure the feasibility of the solutions. The effectiveness and superiority of the proposed coordination framework are validated through hardware-in-the-loop (HiL) experiments.